Induction motor control apparatus

ABSTRACT

An induction motor control apparatus includes a detector, a memory, a correction current generator, and a primary current correction circuit. The detector detects a rotational position of a rotary magnetic flux generated by a multi-phase primary current applied to a primary winding of an induction motor. The memory stores correction values corresponding to measured values of torque ripples periodically generated in correspondence with the rotational positions of the magnetic flux, receives an output from the detector for detecting the rotational position of the magnetic flux, and outputs one of the correction values stored in the memory in correspondence with the rotational position. The correction current generator generates a correction current by the correction value read out from the memory in correspondence with the rotational position of the magnetic flux. The primary current correction circuit corrects the primary current by the correction current.

BACKGROUND OF THE INVENTION

The present invention relates to an induction motor control apparatus and, more particularly, to an induction motor control apparatus wherein the smoothness of rotation of an induction motor at a low speed can be greatly improved.

Conventional induction motors have served as constant-speed motors using a power source having a predetermined frequency and have been used in a variety of applications in favor of rigidness and low cost.

Along with the recent development of electronic devices, microcomputers, and software, a power source having a wide variable frequency range on the basis of vector control (to be referred to as a "driver" hereinafter) can be provided as a power source for driving induction motors. Therefore, induction motors have been popular as servo motors. The above driver is vector-controlled on the basis of the following principle.

The fundamental equations used in vector control are given by a torque current i_(1q), an excitation current or a magnetic flux component current i_(1d) for generating a secondary flux Φ₂, and a slip speed ω_(s) as follows:

    i.sub.1q =(L.sub.2 /M)(T/Φ.sub.2)                      (1)

    i.sub.1d ={Φ.sub.2 +(L.sub.2 /R.sub.2)(dΦ.sub.2 /dt)}/M (2) ##EQU1## where L.sub.2 is the secondary inductance, M is the mutual inductance, T is the torque, Φ.sub.2 is the secondary magnetic flux, and R.sub.2 is the secondary resistance.

The torque T in equations (1) and (3) is an instruction value applied to the vector control apparatus for vector control. The secondary magnetic flux Φ₂ is a preset value determined in advance.

The torque T is derived from equations (1), (2), and (3) as follows:

    T=(M.sup.2 /R.sub.2)ω.sub.s i.sub.1d.sup.2 =(M.sup.2 /L.sub.2)i.sub.1d i.sub.1q                                ( 4)

After the slip speed ω_(s), the torque current i_(1q), and the excitation current i_(1d) are thus determined, they are used to control a so-called inverter which supplies power to the induction motor in such a manner that the induction motor can be driven to provide desired characteristics.

FIG. 1 is a block diagram showing a conventional basic arrangement of a slip frequency vector control apparatus to realize the above-mentioned principle.

Referring to FIG. 1, reference numeral 1 denotes a speed control amplifier; 2, a divider; 3, a constant multiplier; 4, a vector analyzer; 5, a multiplier; 6, a converter; 7, a current control amplifier; 8, a power converter; 9, an induction motor; 11, a speed sensor; 12, a differentiator; 13, 14, 15, and 16, constant multipliers; 17, a divider; 18, a vector oscillator; and 19 and 20, adders.

In operation, an output from the speed control amplifier 1 is provided as a torque instruction T_(M) ^(*). The torque instruction T_(M) ^(*) is divided by the secondary magnetic flux instruction Φ₂ ^(*) in the divider 2 to obtain a secondary q-axis current instruction -i_(2q) ^(*). The constant multiplier 3 multiples the instruction -i_(2q) ^(*) with constant L₂ /M, thereby deriving a torque component current instruction i_(1q) ^(*).

A magnetic flux component current instruction i_(1d) ^(*) is derived from the secondary magnetic flux instruction Φ₂ ^(*) as follows. In order to compensate for primary delay of the secondary flux Φ₂ from a magnetic flux component current i_(1d), a current for generating the secondary flux obtained by multiplying the secondary flux instruction Φ₂ ^(*) with 1/M in the multiplier 15 is added to a current for forcing the secondary flux proportional to a rate of change in time of the secondary flux instruction Φ₂ ^(*) through the differentiator 12 and the multipliers 13 and 14 to obtain the magnetic flux component current instruction i_(1d) ^(*).

A slip frequency instruction ω_(s) ^(*) is calculated using the secondary flux instruction Φ₂ ^(*) and the secondary q-axis current instruction -i_(2q) ^(*). A real speed ω_(r) from the speed sensor 11 is added to the slip frequency instruction ω_(s) ^(*) by the adder 20 to obtain a secondary flux speed ω₀ ^(*) which is then input to the vector oscillator 18. Therefore, a unit vector _(e) jθ₀ ^(*) representing a predictive position θ₀ ^(*) of the secondary flux is generated by the vector oscillator 18.

A primary current vector i₁ ^(*) (θ₀ ^(*)) determined by the torque component current and the magnetic flux component instruction value and plotted on the secondary magnetic flux coordinate system is multiplied with the unit vector _(e) jθ₀ ^(*) by the multiplier 5 and is thus converted into a primary current vector i₁ ^(*) on the fixed coordinates. The primary current vector i₁ ^(*) is 3-phase converted to obtain current instruction values i_(u) ^(*), i_(v) ^(*), and i_(w) ^(*) of the respective phases, thereby causing a current control loop to control the current control amplifier 7 and the power converter 8.

Changes in the instantaneous induction motor torque can be controlled as a function of the instantaneous current.

However, in the "slip frequency vector control apparatus" shown in FIG. 1, the following problems are posed when the induction motor serves as a servo motor. Smooth rotation, i.e., a small rotational variation of the servo motor is required in a low speed range when high-precision control such as table feeding for finishing in a machine tool is to be performed. For this purpose, a rated torque must be generated during the operation of the induction motor. A torque T_(G) during the operation of the induction motor must be substantially equal to a steady, constant (without irregularity) loading torque T_(L) when the induction motor is operated generating the torque T_(L). In other words, if the relation T_(G) =T_(L) +ΔT is established, the torque ripple ΔT must be minimized. It should be noted that the cause of the torque ripple ΔT is a magnetomotive force due to harmonic components with respect to space and time of a frequency f₁ of the primary current supplied from the driver to the primary winding of the induction motor.

In a driver for generating electric energy having a simple 3Φ rectangular voltage waveform, electric energy includes harmonic components with respect to time of 6k±1 times (k=1, 2, 3, . . . ) the primary frequency f₁. Therefore, the torque ripple components of the frequency of 6kf₁ are naturally generated in the force wave proportional to the torque T_(G) of the induction motor.

Along with recent developments of electronic devices (e.g., LSIs and power-controlled semiconductor elements), sensors (e.g., current, speed, and position sensors), and software techniques for high-precision, high-speed data processing, a driver capable of supplying electric energy having almost a sinusoidal wave in a variable frequency range has been commercially available in recent years.

When a primary current having a substantially ideal sinusoidal wave is supplied to an induction motor and the induction motor is operated in a wide range of primary frequencies f₁, frequencies of major components of the torque ripple are 2f₁ and the like in a relatively high motor speed range. However, when the motor speed is reduced, the component 2f₁ or the like is not so conspicuous. Instead, harmonic components 6kf₁ typically appear.

FIG. 2 is a graph showing an induction motor torque spectrum measured by a torque spectrum sensor, and FIG. 3 shows a natural spectrum (multiples of 15 Hz and 50 Hz) of the torque spectrum sensor. In the torque spectrum of FIG. 2, hatched portions indicate influence of the torque spectrum sensor.

As is apparent from FIG. 2, torque ripples at frequencies of 2f₁ and 6kf₁ have large values. This phenomenon also occurs when the output is a sinusoidal wave in addition to the rectangular wave. No proper explanation is given for generation of torque ripples at frequencies of 6kf₁ when the sinusoidal primary current is supplied to the induction motor. No effective countermeasures for this have been proposed.

However, the harmonic torque components ΔT at the frequencies of 6kf₁ at almost zero speed are decisive drawbacks for high-precision servo motors.

SUMMARY OF THE INVENTION

It is an object of the present invention to provide an induction motor control apparatus capable of greatly reducing torque ripples corresponding to harmonic components 2f₁ and 6kf₁ of a frequency f₁ of the primary current i₁ of the induction motor.

An induction motor control apparatus according to the present invention comprises: means for detecting a rotational position of a rotary magnetic flux generated by a multi-phase primary current applied to a primary winding of an induction motor; memory means for storing correction values corresponding to measured values of torque ripples periodically generated in correspondence with the rotational positions of the magnetic flux, for receiving an output from the detecting means for detecting the rotational position of the magnetic flux, and outputting one of the correction values stored in the memory means in correspondence with the rotational position; means for generating a correction current by the correction value read out from the memory means in correspondence with the rotational position of the magnetic flux; and means for correcting the primary current instruction by the correction current, thereby greatly reducing the torque ripples of the induction motor.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram showing a conventional technique;

FIG. 2 is a chart showing a torque spectrum measurement result of a conventional induction motor;

FIG. 3 is a chart showing a natural spectrum of a sensor used in measurement of FIG. 2;

FIG. 4 is a chart showing the relationship between the primary current and its vector components;

FIG. 5 is a chart for explaining fluctuations in the secondary flux of the induction motor;

FIG. 6 is a block diagram of an induction motor control circuit according to an embodiment of the present invention;

FIG. 7 is a chart showing the relationship between the primary current and the secondary flux; and

FIG. 8 is a circuit diagram showing an advance compensation circuit.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT

An induction motor control apparatus according to an embodiment of the present invention will be described with reference to the accompanying drawings.

The principle employed in the present invention will be described prior to a detailed explanation.

As is well known, a primary current i₁ of an induction motor can be divided into vector components of an excitation current i_(1d) and a torque current i_(1q), as shown in FIG. 4.

In practice, the intensity of a secondary flux Φ₂ of the induction motor is determined by the excitation current i_(1d), as represented by equation (2). Even if the excitation current i_(1d) is constant, the secondary flux Φ₂ cannot be constant because of the electromagnetic structure of the motor and incompleteness of the current control loop action. As shown in FIG. 5, the secondary flux Φ₂ fluctuates. The cycle of fluctuations in the secondary flux Φ₂ is an electric angle of 60° or its integer multiple, as shown in FIGS. 2 and 3. This cycle was found during the development of induction motors by the present inventors.

As represented by equation (4), the torque can be defined by the excitation current i_(1d) and the torque current i_(1q). The present inventors achieved this invention on an assumption that smooth rotation could be achieved in the low-speed operation range of the induction motor when the excitation current i_(1d) and the torque current i_(1q) were properly controlled to reduce the torque ripples.

The induction motor control apparatus according to an embodiment of the present invention will now be described with reference to FIG. 6. The same reference numerals as in FIG. 1 denote the same parts in FIG. 6, and a detailed description thereof will be omitted.

The primary difference between the circuit of FIG. 6 and that of FIG. 1 resides in the correction current generator 27 which generates an excitation correction current Δi_(1d) and a torque correction current Δi_(1q) which are used to compensate for the torque ripples noted above. The excitation and torque correction currents are generated by multiplying the instantaneous torque excitation current instruction I_(1d) * and the torque current instruction I_(1q) * by predetermined correction values stored in the memory 21. The values stored in memory 21 are predetermined by measuring the torque ripple values for the motor being controlled utilizing a torque ripple sensor and determining the required correction values Δi_(1d) /i_(1d) * and Δi_(1q) /i_(1q) * for every predetermined incremental change in the rotational position θ₀ of the rotary flux of the motor and storing the appropriate values in memory 21. In this way, memory 21 (and therefore correction current generator 27) are matched to the specific motor being controlled. The correction values are determined (and then stored in memory 21) in the manner described below.

An excitation current instruction i_(1d) ^(*) for an induction motor of interest is changed every unit value, and torque ripple values for the torque of the motor are measured by using a proper torque ripple sensor. A ratio Δi_(1d) /i_(1d) ^(*) of an excitation correction current Δi_(1d) to the excitation current instruction i_(1d) ^(*) per ampere at each rotational position θ₀ is calculated based on the measurement results. The calculated values that is, the correction values for the torque current instruction, are stored at addresses corresponding to positions θ₀ in a memory 21.

Similarly, the torque current instruction i_(1q) ^(*) is changed every unit value, and a value corresponding to the motor torque is measured. A ratio Δi_(1q) /i_(1q) ^(*) of a torque correction current Δi_(1q) to the torque current instruction i_(1q) ^(*) per ampere at each rotational position θ₀ is calculated, and the calculated values are stored at addresses corresponding to the positions θ₀ in the memory 21.

Referring to FIG. 6, the output terminal of a vector oscillator 18 is connected to the input terminal of a multiplier 5 and the memory 21. The instantaneous rotational positions θ₀ of the rotary flux of the induction motor are stored in the memory 21 by using the rotational positions θ₀ as address data. The ratio Δi_(1d) /i_(1d) ^(*) of the excitation correction current to the excitation current instruction i_(1d) ^(*) per ampere corresponding to the input rotational position θ₀ is output from an output terminal 21a of the memory 21. Similarly, the ratio Δi_(1q) /i_(1q) ^(*) of the torque correction current to the torque current instruction i_(1q) ^(*) per ampere corresponding to the input rotational position θ₀ is output from an output terminal 21b of the memory 21.

The output terminal 21b of the memory 21 is connected to one input terminal 25a of a multiplier 25. The other input terminal 25b of the multiplier 25 is connected to the output terminal of a constant multiplier 3. The output terminal of the multiplier 25 is connected to one input terminal of an adder 23. The other input terminal of the adder 23 is connected to the output terminal of the constant multiplier 3. The output terminal of the adder 23 is connected to an input terminal Im of a vector analyzer 4.

The output terminal 21b of the memory 21 is connected to one input terminal 26a of a multiplier 26. The other input terminal 26b of the multiplier 26 is connected to one input terminal of an adder 22 and to the output terminal of an adder 19 for outputting the excitation current instruction i_(1d) ^(*). The other input terminal of the adder 22 is connected to the output terminal of the multiplier 26. The output terminal of the adder 22 is connected to an input terminal Re of the vector analyzer 4.

The operation of the induction motor control apparatus having the arrangement shown in FIG. 6 will be described below.

The rotational position θ₀ of the rotary flux of an indiction motor 9 during operation is instantaneously detected by the vector oscillator 18. The vector oscillator 18 generates a rotational position signal, indicative of the detected rotational position θ₀ which is supplied as an address input to the memory 21. In response to the input rotational position signal, the correction values, that is the ratio of the excitation correction current Δi₁ d to the excitation current instruction i_(1d) ^(*) per ampere and the ratio of the torque correction current Δi₁ q to the torque current instruction i_(1q) ^(*) per ampere are supplied from the memory 21 to the multipliers 26 and 25, respectively.

The multipliers 25 and 26 generate the torque correction current Δi_(1q) and the excitation correction current Δi_(1d) which are respectively proportional to the torque current instruction i_(1q) ^(*) and the excitation current instruction i_(1d) ^(*).

The excitation correction current Δi_(1d) is added by the adder 22 to the excitation current instruction i_(1d) ^(*) supplied from the adder 19. The sum (i_(1d) ^(*) +Δi_(1d)) is supplied to the terminal Re of the vector analyzer 4.

The torque correction current Δi_(1q) is added by the adder 23 to the torque current instruction i_(1q) ^(*) supplied from the constant setter 3. The sum (i_(1q) ^(*) +Δi_(1q)) is supplied to the input terminal Im of the vector analyzer 4.

Correction operations for the torque current instruction i_(1q) ^(*) and the excitation current instruction) i_(1d) ^(*) are performed in the vector analyzer 4. The primary current vector i₁ *(θ₀ *) output from the vector analyzer 4 varies in accordance with the values of the excitation correction current Δi_(1d) and the torque correction current Δi_(1q). Accordingly, ripple-compensated primary current vector i₁ *(θ₀ *) is supplied from the analyzer 4 to the multiplier 5. In the same manner as described with reference to FIG. 1, the primary current components of the three phases are supplied to the induction motor 9 through a converter 6, a current-controlled amplifier 7, a power converter 8, and the like. Ripple-compensated current components are supplied to the induction motor 9, and the ripple-compensated current greatly reduces the difference between Φ₂ (MAX) and Φ₂ (MIN) shown in FIG. 5 and thus smooth rotation in the low speed range can be maintained.

In the above embodiment, the torque current instruction i_(1q) ^(*) and the excitation current instruction i_(1d) ^(*) of the primary current i₁ are corrected. However, both the components need not be corrected.

The torque correction current Δi_(1q) is supplied from a correction current generator 27 consisting of the memory 21 and the multipliers 25 and 26 to the adder 23, and only the torque current instruction i_(1q) ^(*) can be corrected. In this case, the excitation correction current Δi_(1d) for the excitation current instruction i_(1d) ^(*) is not output from the correction current generator 27. The excitation current instruction i_(1d) ^(*) as the output from the adder 19 is applied to the input terminal Re of the vector analyzer 4 without modifications.

To the contrary, the torque current instruction i_(1q) ^(*) need not be corrected and may be applied to the input terminal Im of the vector analyzer 4. In this case, the excitation correction current Δi_(1d) for the excitation current instruction i_(1d) ^(*) is output from the correction current generator 27.

When the secondary flux Φ₂ is electrically detected after the primary current i₁ is input to the induction motor 9, it causes delay for a predetermined period of time. This time lag is called an "electrical time constant".

When a stepwise signal indicated by reference symbol P in FIG. 7 is supplied as the primary current i₁, the secondary flux Φ₂ rises with a time lag indicated by reference symbol Q due to the electric time constant. In this case, a signal indicated by reference symbol R is applied to the secondary flux Φ₂, the above-mentioned time delay can be canceled. A compensation for the electrical time constant indicated by reference symbol R is called "advance compensation".

When correction represented by the correction current, e.g., Δi_(1q) supplied from the correction current generator 27 shown in FIG. 6 is performed by the advance compensation circuit including resistors R1, R3, and R4, and an operational amplifier A, as shown in FIG. 8. Therefore, the delay in the electrical time constant can be reduced. The effect of the correction currents Δi_(1q) and Δi_(1d) is significant especially on the harmonic component having the period of 60° in electric angle (in case of k=1).

As described above, since the torque ripples in the very low speed range can be reduced according to the present invention, smooth rotation of the induction motor can be maintained in the low speed range. 

What is claimed is:
 1. an induction motor control apparatus comprising:means for generating a rotational position signal indicative of the rotational position of a rotary magnetic flux of an induction motor generated by a multi-phase primary current applied to a primary winding of the induction motor; memory means for storing correction values corresponding to predetermined measured values of torque ripples which are periodically generated as a function of the rotational positions of the magnetic flux for the motor being controlled and for outputting that correction value which corresponds to the rotational position of said rotary magnetic flux as indicated by the rotational position signal; means for generating a correction current as a function of the correction value outputted by the memory means; and means for correcting the primary current as a function of the correction current.
 2. An apparatus according to claim 1, whereinthe correction value is a correction current value of an instruction value of at least one vector component of a primary current per unit amount, said correction current generating means comprises at least one multiplier for multiplying each instruction value of said at least one vector component of the primary current with a corresponding correction current value stored in said memory means, and said primary current correcting means comprises an adder for adding said each instruction value of said at least one vector component of the primary current and a corresponding output from said at least one multiplier.
 3. An apparatus according to claim 2, wherein said at least one vector component of the primary current includes an excitation current and a torque current.
 4. An apparatus according to claim 2, wherein said at least one vector component of the primary current is one of an excitation current and a torque current.
 5. An apparatus according to claim 1, wherein said means for detecting the rotational position of the rotary magnetic flux includes: a speed sensor, connected to said induction motor, for outputting a real rotational speed thereof; means for outputting a slip frequency instruction value; means for calculating a rotational speed instruction value of the secondary flux on the basis of the real rotational speed and the slip frequency instruction value; and a vector oscillator for outputting a predictive rotational position of the secondary flux on the basis of the rotational speed instruction value of the secondary flux.
 6. An apparatus according to claim 5, wherein a correction current cycle at the flux rotational position is an electric angle of 60° or an integer multiple thereof, or a fraction of an integer thereof.
 7. An apparatus according to claim 1, wherein said memory means receives the flux rotational position as an address signal and outputs a correction value corresponding to a real rotational speed.
 8. An apparatus according to claim 1, wherein said means for generating the correction value includes an advance compensation circuit. 